A transfer device and method for automobile bottom panel welding line

Abstract

The present invention provides a transfer device and method for an automobile floor welding line, and relates to the field of automobile welding lines. The component force of the adsorption force formed by a vacuum suction cup along the axial direction of a guide rod changes with the change of the yaw angle. In order to reduce the slippage between the vacuum suction cup and the workpiece in the yaw state, the adsorption effect is improved by increasing the adsorption pressure of the vacuum suction cup, thereby reducing the slippage, improving the stability of a grasping mechanism when grasping the workpiece, and reducing damage to the workpiece during the grasping and transfer process. In view of the problems of poor grasping stability and poor adaptability during the conveying process of automobile floor workpieces, a vacuum suction cup with adjustable angle and adsorption force is used to grasp the workpiece, and the adsorption effect is improved for the suction cup in an inclined state, thereby improving the adaptability of the grasping mechanism to workpieces of different models, and ensuring the stability when grasping the workpiece.

Description

Technical Field

[0001] The invention relates to the field of automobile welding lines, and in particular to a transfer device and method for an automobile bottom plate welding line. Background Art

[0002] As a trend in the development of new energy vehicles, lightweight car bottom plates are often connected by welding. Car bottom plates are thin and large in size, with low strength and rigidity. During the loading and conveying process, there are problems such as low efficiency, easy collision and deformation, which affect the subsequent processing accuracy.

[0003] During the loading and unloading of the automobile floor before welding and after welding, the workpiece needs to be transferred from the outside to the welding station or from the welding station to the outside. The Chinese patent (application number: CN201911087853.2) discloses an intelligent plate parts processing production line combining general and special equipment. The automatic loading device of the production line is arranged in a straight line with four special processing machine tools from one to four stations. A truss transport device is arranged in parallel on the rear side of the processing machine tool, on which there are four mechanical arms corresponding to the material handling of each station and the unloading layout of the finished product. A four-axis two-claw manipulator is used between each processing equipment to realize the material transportation between each processing equipment. However, this layout method lacks processing flexibility, which in turn affects the processing efficiency. There are deviations in the structure of automobile floor panels of different models. There is a problem of poor grasping stability during the transportation process. At the same time, due to the presence of foreign matter such as welding slag and impurities on the workpiece after welding, it also increases the difficulty of grasping and transportation. When the mechanical claw is used for transportation, the mechanical claw squeezes and collides with foreign matter such as welding slag and impurities, which may cause deformation of the workpiece and affect the quality of the workpiece. Summary of the invention

[0004] The purpose of the present invention is to address the defects of the prior art and provide a transfer device and method for an automobile floor welding line, which uses a vacuum suction cup with adjustable angle and adjustable adsorption force to grab the workpiece, increases the adsorption force of the suction cup in an inclined state to improve the adsorption effect, improves the adaptability of the grabbing mechanism to workpieces of different models, and ensures stability when grabbing the workpiece.

[0005] The first object of the present invention is to provide a transfer device for an automobile floor panel welding line, which adopts the following scheme:

[0006] include:

[0007] The transfer assembly is provided with a connected three-axis motion mechanism and a grasping mechanism, the grasping mechanism is provided with a grasping frame and a vacuum suction cup, the vacuum suction cup is connected to a guide rod through a ball joint, the guide rod is slidably connected to the grasping frame, and the guide rod is equipped with an elastic member for applying an axial resetting elastic force to the vacuum suction cup; the vacuum suction cup is connected to a vacuum generator, and the adsorption force of the vacuum suction cup varies with the swing angle of its axis relative to the axis of the guide rod;

[0008] The conveying assembly is provided with a slide rail and a loading platform slidably mounted on the slide rail. The loading platform cooperates with the slide rail through a transmission mechanism to drive the loading platform to move along the slide rail. A protective cover is provided outside the matching position of the slide rail and the transmission mechanism.

[0009] Furthermore, the grabbing frame is connected to a plurality of vacuum suction cups via a plurality of guide rods, and each vacuum suction cup is respectively connected to a corresponding vacuum generator.

[0010] Furthermore, the grabbing frame is provided with a connecting rod, a fixing block is mounted on the connecting rod, a guide rod is mounted on the fixing block, and the fixing block drives the guide rod and the vacuum suction cup to move along the connecting rod to adjust the distribution position.

[0011] Furthermore, the three-axis motion mechanism includes a transfer truss and a lifting mechanism, the lifting mechanism is installed on the transfer truss, and the grabbing mechanism is installed at the end of the lifting mechanism.

[0012] Furthermore, the conveying assembly also includes a buffer baffle distributed outside the end of the slide rail and a buffer mechanism installed on the loading platform, the buffer mechanism faces the buffer baffle, and when the buffer mechanism is driven by the loading platform to contact the buffer baffle, the buffer mechanism can limit the relative position of the loading platform and the slide rail.

[0013] Furthermore, a rack is provided on one side of the slide rail and is distributed parallel to the slide rail, and a driving motor is provided on the loading platform, and an output end of the driving motor meshes with the rack through a transmission gear.

[0014] Furthermore, the slide rails are arranged in parallel with each other, and the bottom of the loading platform is slidably matched with the two slide rails through a bearing connection block.

[0015] Furthermore, a material unloading robot is provided at one end of the conveying component away from the transfer component.

[0016] The second object of the present invention is to provide a working method of the automobile floor panel welding line transfer device as described in the first object, comprising:

[0017] The three-axis motion mechanism drives the gripping mechanism to move, and the vacuum suction cup of the gripping mechanism can contact and fit the workpiece, and absorb the workpiece for gripping;

[0018] When loading, the three-axis motion mechanism drives the workpiece grasped by the vacuum suction cup to be transferred from the workpiece placement area to the loading platform of the conveying component; when unloading, the three-axis motion mechanism drives the workpiece grasped by the vacuum suction cup to be transferred from the loading platform of the conveying component to the workpiece placement area;

[0019] The loading platform moves along the slide rail, driving the workpiece on the loading platform to move for loading or unloading the workpiece.

[0020] Furthermore, the vacuum suction cup can adapt to the surface angle of the workpiece at the contact position, change the angle of the vacuum suction cup relative to the guide rod, so that the vacuum suction cup maintains contact with the workpiece, and adjust the adsorption force of the vacuum suction cup according to the swing angle of the vacuum suction cup relative to the guide rod.

[0021] Compared with the prior art, the present invention has the following advantages and positive effects:

[0022] (1) In order to solve the problems of poor grasping stability and poor adaptability during the conveying of automobile floor workpieces, a vacuum suction cup with adjustable angle and adsorption force is used to grasp the workpiece. The adsorption force of the suction cup in an inclined state is increased to improve the adsorption effect, improve the adaptability of the grasping mechanism to workpieces of different models, and ensure the stability when grasping the workpiece.

[0023] (2) The welding slag generated during the welding process is easy to fall off onto the conveying rail, affecting the conveying accuracy and requiring regular maintenance of the conveying rail. By adding an inverted "L"-shaped right-angle protective cover to the conveying rail, the influence of welding slag splashing on the conveying accuracy can be prevented.

[0024] (3) The conveying position control is not accurate. After the conveying is completed, the drive device is not shut down in time, resulting in derailment or collision. By adding an anti-collision device and a position recognition sensor in front of the loading platform of the conveying device, the pre-set baffle on the guide rail is recognized, and then the drive system is actively shut down to ensure the position accuracy of the transportation process.

[0025] (4) The component of the adsorption force formed by the vacuum suction cup along the axial direction of the guide rod changes with the change of the yaw angle. In order to reduce the slippage between the vacuum suction cup and the workpiece in the yaw state, the adsorption effect is improved by increasing the adsorption pressure of the vacuum suction cup, thereby reducing the slippage, improving the stability of the grasping mechanism when grasping the workpiece, and reducing the damage to the workpiece during the grasping and transportation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] Figure 1 It is a schematic diagram of the layout of the automobile floor panel welding line transfer device in Examples 1 and 2 of the present invention.

[0028] Figure 2 This is a production flow chart of the automobile floor panel welding line transfer device in Examples 1 and 2 of the present invention.

[0029] Figure 3 Schematic diagram of the structure of the transfer assembly in Examples 1 and 2 of the present invention.

[0030] Figure 4 Schematic diagram of the structure of the adsorption mechanism in Examples 1 and 2 of the present invention.

[0031] Figure 5 Schematic diagram of the structure of the conveying assembly in Examples 1 and 2 of the present invention.

[0032] Figure 6 Schematic diagram of the structure of the translation mechanism in Examples 1 and 2 of the present invention.

[0033] Figure 7 Schematic diagram of the structure of the buffer mechanism in Examples 1 and 2 of the present invention.

[0034] Among them, I. Transfer component; II. Conveying component; III. Unloading robot.

[0035] I-1. Transfer truss; I-2. Grabbing mechanism; I-3. Lifting mechanism; I-1-1. First beam; I-1-2. Second beam; I-1-3. Third beam; I-1-4. Guide rail; I-1-5. Guide block; I-1-6. Displacement drive motor; I-2-1. Flange; I-2-2. Vacuum generator; I-2-3. Connecting rod; I-2-4. Fixed block; I-2-5. Guide rod; I-2-6. Connecting nut; I-2-7. Floating spring; I-2-8. Vacuum suction cup; I-3-1. Lifting drive motor.

[0036] II-1. Buffer baffle; II-2. Protective cover; II-3. Rack; II-4. Buffer mechanism; II-4-1. Buffer head; II-4-2. Position identification sensor; II-4-3. Buffer spring; II-5. Loading platform; II-6. Slide rail; II-7. Slider; II-8. Driving motor; II-9. Transmission gear; II-10. Load-bearing connecting block; II-11. Connecting bolt. DETAILED DESCRIPTION

[0037] Example 1

[0038] In a typical embodiment of the present invention, Figure 1-Figure 7 As shown, a transfer device for an automobile floor panel welding line is provided.

[0039] During the loading of the automobile floor before welding and the unloading of the automobile floor after welding, the workpiece needs to be transferred from the outside to the welding station or from the welding station to the outside. There are deviations in the structures of automobile floors of different models, and there is a problem of poor grasping stability during the transportation process. At the same time, the presence of foreign matter such as welding slag and impurities on the workpiece after welding also increases the difficulty of grasping and transportation. When using a mechanical claw for transportation, the mechanical claw squeezes and collides with foreign matter such as welding slag and impurities, which may cause deformation of the workpiece and affect the quality of the workpiece. Based on this, a transfer device for an automobile floor welding line is provided in this embodiment, which utilizes a three-axis moving mechanism combined with a floating suction cup to achieve stable grasping of the workpiece, and protects the slide rail II-6 during the transportation process, thereby reducing the impact of foreign matter falling off the workpiece surface during the transportation of the workpiece on the transportation stability, reducing workpiece damage and improving welding accuracy.

[0040] See also Figure 1 The transfer device of the automobile bottom panel welding line includes a transfer component I and a conveying component II arranged in sequence. One end of the transfer component I is mounted above the conveying component II, and the other end is mounted above the workpiece placement area to connect the workpiece placement area and the conveying component II. Figure 2 As shown, the workpiece on the conveying component II can be unloaded to the workpiece placement area, and the workpiece in the workpiece placement area can also be transferred to the conveying component II. The end of the transfer component I can grab the workpiece and transfer it, and the conveying component II can carry and transport the workpiece.

[0041] Specifically, Figure 3 As shown, the transfer component I is provided with a connected three-axis motion mechanism and a gripping mechanism I-2. The three-axis motion mechanism drives the gripping mechanism I-2 to perform three-axis motion, so that the gripping mechanism I-2 can move as needed to achieve the required connection between the workpiece placement area and the conveying component II.

[0042] The three-axis motion mechanism includes a transfer truss I-1 and a lifting mechanism I-3. The transfer truss I-1 includes a first beam I-1-1, a second beam I-1-2 and a third beam I-1-3. The second beam I-1-2 and the third beam I-1-3 are parallel and spaced apart. The first beam I-1-1 and the second beam I-1-2 are respectively provided with guide rails I-1-4. The two ends of the first beam I-1-1 cooperate with the guide rails I-1-4 through guide blocks I-1-5, so that the first beam I-1-1 can slide along the axial direction of the second beam I-1-2 and the third beam I-1-3, thereby realizing sliding in the X-axis direction of the three-axis motion mechanism; the first beam I-1-1 is connected to the lifting mechanism I-3 through a sliding mechanism, and sliding in the Y-axis direction of the three-axis motion mechanism is realized through the sliding mechanism; the lifting mechanism I-3 can move vertically relative to the first beam I-1-1, thereby realizing sliding in the Z-axis direction of the three-axis motion mechanism. The grabbing mechanism I-2 is installed at the end of the lifting mechanism I-3 to achieve movement in three axes.

[0043] The second crossbeam I-1-2 and the third crossbeam I-1-3 can be connected by a supporting beam, and multiple legs are connected below the first crossbeam I-1-1 and the second crossbeam I-1-2 to form a suspension setting for the lifting mechanism I-3. Among them, a displacement drive motor I-1-6 can be installed on the first crossbeam I-1-1 to drive the first crossbeam I-1-1 to slide relative to the second crossbeam I-1-2, and a displacement drive motor I-1-6 can also be installed on the lifting mechanism I-3 to drive the lifting mechanism I-3 to slide relative to the first crossbeam I-1-1 along the Y-axis direction. The lifting mechanism I-3 itself is also installed with a lifting drive motor I-3-1 to drive the grabbing mechanism I-2 to move along the Z-axis direction. The displacement drive motor I-1-6 and the lifting drive motor I-3-1 can be a stepper motor or a servo motor, and the drive is achieved through a gear rack mechanism as a transmission mechanism.

[0044] In this embodiment, Figure 4 As shown, the grabbing frame is connected to multiple vacuum cups I-2-7 through multiple guide rods I-2-5, and each vacuum cup I-2-7 is connected to the corresponding vacuum generator I-2-2. The vacuum cup I-2-7 is connected to the vacuum generator I-2-2 through an air pipe and a control valve. The vacuum generator I-2-2 can move with the grabbing frame, and the adsorption force can be adjusted by adjusting the operating parameters of the vacuum generator I-2-2. The control valve can also be set on the grabbing frame, and the control valve is connected to the external vacuum generator I-2-2 through an air pipe, and the adsorption force of the vacuum cup I-2-7 can be changed by adjusting the opening of the control valve.

[0045] The grabbing frame is provided with a connecting rod I-2-3, a fixed block I-2-4 is installed on the connecting rod I-2-3, a guide rod I-2-5 is installed on the fixed block I-2-4, and the fixed block I-2-4 drives the guide rod I-2-5 and the vacuum suction cup I-2-7 to move along the connecting rod I-2-3 to adjust the distribution position. Figure 4 As shown, taking the grab frame with two connecting rods I-2-3 as an example, the two connecting rods I-2-3 are distributed in parallel and are commonly connected to the flange I-2-1, and are connected to the end of the three-axis motion mechanism through the flange I-2-1. Four fixed blocks I-2-4 are distributed on each connecting rod I-2-3, and the four fixed blocks I-2-4 are distributed at intervals. The spacing between adjacent fixed blocks I-2-4 can be configured according to the designed adsorption position.

[0046] The fixed block I-2-4 can be a structure in the form of a clamp, a clamp, etc., which can be unlocked and locked. When unlocking, the position can be adjusted relative to the connecting rod I-2-3. When locked, the relative position of the fixed block I-2-4 and the connecting rod I-2-3 can be fixed, thereby fixing the distribution position of the vacuum suction cup I-2-7. The connecting rod I-2-3 can be a square steel or square steel tube structure, which can prevent the fixed block I-2-4 from rotating and sliding after being locked, and ensure the stability of the fixed block I-2-4 relative to the connecting rod I-2-3 when locked.

[0047] like Figure 4 As shown, the guide rod I-2-5 is equipped with an elastic member for applying axial reset elastic force thereto, and the elastic member can be a spring. One end of the guide rod I-2-5 is connected to the vacuum suction cup I-2-7 through a ball joint, and the other end is equipped with a connecting nut I-2-6 after passing through the fixed block I-2-4. The guide rod I-2-5 is arranged at the position of the fixed block I-2-4 to form a sliding fit. The spring serves as a floating member, namely, a floating spring I-2-7, which abuts against the fixed block I-2-4 and the vacuum suction cup I-2-7, so that the vacuum suction cup I-2-7 maintains a coaxial state with the guide rod I-2-5 when it does not contact the automobile floor workpiece. At the same time, it also has a reset function of pushing the vacuum suction cup I-2-7 to put the guide rod I-2-5 in a pushed-out state. When subjected to external force, it can be compressed and stored. The guide rod I-2-5 slides relative to the fixed block I-2-4 to adjust the position of the vacuum suction cup I-2-7 to adapt to the automobile floor workpiece it fits. The connecting nut I-2-6 serves as a limiter to prevent the guide rod I-2-5 from coming off the fixed block I-2-4 and to restrict the maximum sliding length of the guide rod I-2-5.

[0048] Among them, the vacuum suction cup I-2-7 is connected to the guide rod I-2-5 through a ball joint, so that the vacuum suction cup I-2-7 can swing relative to the guide rod I-2-5. The adsorption pressure of the vacuum suction cup I-2-7 is adjusted according to the change in the swing angle of the vacuum suction cup I-2-7 relative to the guide rod I-2-5. The larger the swing angle, the greater the adsorption pressure of the vacuum suction cup I-2-7.

[0049] Specifically, the vacuum suction cup I-2-7 is a disc-shaped structure with an adsorption concave portion. In the initial state, the axis of the vacuum suction cup I-2-7 is in line with the axis of the guide rod I-2-5, so that the two are coaxially distributed. As the vacuum suction cup I-2-7 contacts the surface of the external workpiece, the vacuum suction cup I-2-7 is pushed to change its direction under the action of external force, so that the vacuum suction cup I-2-7 and the guide rod I-2-5 are in a non-coaxial state, and the vacuum suction cup I-2-7 is kept in contact with the workpiece. Relative to the direction of the axis of the guide rod I-2-5 to which the vacuum suction cup I-2-7 is hinged, the larger the angle between the axis of the vacuum suction cup I-2-7 and the axis of the guide rod I-2-5, the larger the corresponding swing angle, and the adsorption pressure of the vacuum suction cup I-2-7 is adjusted accordingly.

[0050] like Figure 4 As shown, it should be pointed out that when the vacuum suction cup I-2-7 is deflected relative to the guide rod I-2-5, the adsorption force of the vacuum suction cup I-2-7 also forms an angle with the guide rod I-2-5. The adsorption force formed by the vacuum suction cup I-2-7 along the axial direction of the guide rod I-2-5 changes with the change of the deflection angle. In order to reduce the slippage between the vacuum suction cup I-2-7 and the workpiece in the deflected state, the adsorption effect is improved by increasing the adsorption pressure of the vacuum suction cup I-2-7, thereby reducing the slippage, improving the stability of the grasping mechanism I-2 when grasping the workpiece, and reducing the damage to the workpiece during the grasping and transportation process.

[0051] When obtaining the deflection of the vacuum suction cup I-2-7 relative to the guide rod I-2-5, an angle sensor can be used. An angle sensor can be installed at or near the connection between the vacuum suction cup I-2-7 and the guide rod I-2-5. The angle sensor can measure and output the deflection angle of the suction cup relative to the guide rod I-2-5 in real time. You can also use a visual system (such as a camera and image processing software) to track the positional relationship between the suction cup and the guide rod I-2-5, and calculate the deflection angle of the suction cup relative to the guide rod I-2-5 through image processing technology. Then configure the adsorption force to follow the change of the deflection angle, and determine the logic of the adsorption force changing with the deflection angle according to the needs.

[0052] Receive the output of the angle sensor (or the calculation result of the visual system), calculate the required adsorption force according to the preset control logic, and increase the adsorption force to maintain stability when the deflection angle exceeds a certain threshold.

[0053] The adsorption force of the vacuum suction cup I-2-7 is adjusted by controlling the vacuum pump or the vacuum valve. The vacuum suction cup I-2-7 is used to form multiple adsorption point positions, and the adsorption force of each adsorption point is independently controlled to better adapt to the change of the yaw angle.

[0054] In other optional embodiments, the structure of the grabbing frame and the vacuum suction cup I-2-7 on the grabbing mechanism I-2 can also be configured in other ways, such as adjusting the structure of the grabbing frame, changing the number and distribution form of the connecting rods I-2-3 set on the grabbing frame, adjusting the distribution spacing and number of the vacuum suction cups I-2-7 on the connecting rods I-2-3, and changing the parameter specifications of the vacuum suction cups I-2-7, such as the diameter and maximum adsorption force of the vacuum suction cups I-2-7. It is also possible to configure multiple different forms of grabbing mechanisms I-2, corresponding to different automobile floor workpieces. When switching production, for workpieces with large differences in the distribution of the grabbing positions, they can be adapted by replacing different grabbing mechanisms I-2. For workpieces with small differences in the distribution of the grabbing positions during the switching production, the position of the vacuum suction cups I-2-7 can be adjusted by the telescopic action of the guide rods I-2-5 relative to the grabbing frame to adapt the grabbing position of the workpiece.

[0055] like Figure 5 and Figure 6 As shown, the conveying component II is provided with a slide rail II-6 and a loading platform II-5 slidably mounted on the slide rail II-6. The loading platform II-5 cooperates with the slide rail II-6 through a transmission mechanism to drive the loading platform II-5 to move along the slide rail II-6. A protective cover II-2 is provided outside the cooperation position between the slide rail II-6 and the transmission mechanism. The conveying component II also includes a buffer baffle II-1 distributed outside the end of the slide rail II-6 and a buffer mechanism II-4 installed on the loading platform II-5. The buffer mechanism II-4 faces the buffer baffle II-1. When the buffer mechanism II-4 is driven by the loading platform II-5 to contact the buffer baffle II-1, the buffer mechanism II-4 can limit the relative position of the loading platform II-5 and the slide rail II-6.

[0056] The transmission mechanism includes a slider II-7 and a bearing connection block II-10. The slider II-7 is installed on the slide rail II-6 to form a sliding fit. The slider II-7 is installed with a "Z"-shaped bearing connection block II-10 for installing the loading platform II-5. There are two parallel slide rails II-6. The bottom of the loading platform II-5 slides with the two slide rails II-6 through the bearing connection block II-10. One side of the slide rail II-6 is provided with a rack II-3 distributed parallel to it. Figure 5 As shown, the rack II-3 is located between the two slide rails II-6, and a drive motor II-8 is provided on the loading platform II-5. The output end of the drive motor II-8 engages with the rack II-3 through a transmission gear II-9.

[0057] A protective cover II-2 is provided on one side of the slide rail II-6 and the rack II-3. The front side of the loading platform II-5 is connected to the drive motor II-8 by screws, and the output shaft of the drive motor II-8 cooperates with the transmission gear II-9. Through the meshing of the transmission gear II-9 and the rack II-3, the transmission gear II-9 is driven to move forward and backward on the rack II-3, thereby driving the loading platform II-5 to move on the slide rail II-6.

[0058] Since different models of automobile bottom plates have different numbers of welding points, if the automobile bottom plates are welded while moving on the conveying component II, in order to ensure sufficient welding time, it is necessary to limit the linear speed of different models of automobile bottom plates on the conveying component II. Therefore, different models of automobile bottom plates require different transmission forces. The transmission force F is shown in formula (1):

[0059] F= P×π×m×Z (1)

[0060] 1000v

[0061] Among them, F is the transmission force (N), P is the power of the driving motor II-8 (KW), m is the module of the transmission gear II-9 (mm), Z is the number of teeth of the transmission gear II-9, and v is the transmission linear speed of the transmission gear II-9 (m / s).

[0062] like Figure 6 As shown, in order to prevent welding slag from splashing onto the slide rail II-6 during the welding process and affecting the transportation process, an inverted "L"-shaped right-angle protective cover II-2 is installed on the slide rail II-6 and the rack II-3. In order to adapt to the inverted "L"-shaped design of the protective cover II-2, a "Z"-shaped load-bearing connection block II-10 is installed on the slider II-7. The load-bearing connection block II-10 has a threaded hole and is connected to the loading platform II-5 through the connecting bolt II-11 to ensure that the loading platform II-5 can be transported normally.

[0063] like Figure 7 As shown, the buffer mechanism II-4 includes a buffer head II-4-1, a position identification sensor II-4-2 and a buffer spring II-4-3. A buffer baffle II-1 is provided at the front end of the slide rail II-6, and buffer baffles II-1 are provided on both sides of the front end of the loading platform II-5. The buffer mechanism II-4 on the loading platform II-5 is equipped with a position identification sensor II-4-2 for detecting the position of the loading platform II-5. When transported to the front side of the buffer baffle II-1, the position identification sensor II-4-2 sends a signal and feeds back to the drive motor II-8, and the transportation stops. In order to prevent collisions caused by untimely signal feedback, a flexible buffer head II-4-1 and a buffer spring II-4-3 made of resin material are provided on the buffer mechanism II-4 to ensure the safety of the transportation process.

[0064] When the transportation stops, the clamp on the unloading robot III completes the suction unloading of the car floor. The unloading robot III can directly use the turnover robot in the welding process, which grabs the workpiece through the corresponding tooling for loading or unloading, that is, it can load the workpiece to be welded on the conveying component II to the welding line, and can also remove the welded workpiece from the welding line and place it on the transfer component I.

[0065] Example 2

[0066] In another typical embodiment of the present invention, Figure 1-Figure 7 As shown, a working method using a transfer device for an automobile floor panel welding line is provided.

[0067] Using the automobile floor panel welding line transfer device in Example 1, the following steps are included:

[0068] The three-axis motion mechanism drives the grasping mechanism I-2 to move, and the vacuum suction cup I-2-7 of the grasping mechanism I-2 can contact and fit the workpiece, and absorb the workpiece for grasping;

[0069] When loading, the three-axis motion mechanism drives the workpiece grasped by the vacuum suction cup I-2-7 to be transferred from the workpiece placement area to the loading platform II-5 of the conveying component II; when unloading, the three-axis motion mechanism drives the workpiece grasped by the vacuum suction cup I-2-7 to be transferred from the loading platform II-5 of the conveying component II to the workpiece placement area;

[0070] The loading platform II-5 moves along the slide rail II-6, driving the workpiece on the loading platform II-5 to move for loading or unloading the workpiece.

[0071] Among them, the vacuum suction cup I-2-7 can adapt to the surface angle of the workpiece at the contact position, so that the angle of the vacuum suction cup I-2-7 relative to the guide rod I-2-5 changes, so that the vacuum suction cup I-2-7 maintains contact with the workpiece, and adjusts the adsorption force of the vacuum suction cup I-2-7 according to the swing angle of the vacuum suction cup I-2-7 relative to the guide rod I-2-5.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A transfer device for an automobile floor panel welding line, characterized in that: include: The transfer assembly is provided with a connected three-axis motion mechanism and a grasping mechanism. The grasping mechanism is provided with a grasping frame and a vacuum suction cup. The vacuum suction cup is connected to a guide rod through a ball joint. The guide rod is slidably connected to the grasping frame. The guide rod is equipped with an elastic member for applying an axial reset elastic force to it. The vacuum suction cup is connected to a vacuum generator, and the adsorption force of the vacuum suction cup varies with the swing angle of its axis relative to the axis of the guide rod. The grasping frame is provided with a connecting rod, a fixed block is installed on the connecting rod, and the guide rod is installed on the fixed block. The fixed block drives the guide rod and the vacuum suction cup to move along the connecting rod to adjust the distribution position. The conveying assembly is provided with a slide rail and a loading platform slidably installed on the slide rail. The loading platform cooperates with the slide rail through a transmission mechanism to drive the loading platform to move along the slide rail. A protective cover is provided outside the matching position of the slide rail and the transmission mechanism. The conveying assembly also includes a buffer baffle distributed outside the end of the slide rail and a buffer mechanism installed on the loading platform. The buffer mechanism faces the buffer baffle. When the buffer mechanism is driven by the loading platform to contact the buffer baffle, the buffer mechanism can limit the relative position of the loading platform and the slide rail. The transmission mechanism includes a slider and a load-bearing connection block. The slider is installed on the slide rail to form a sliding fit. A "Z"-shaped load-bearing connection block is installed on the slider. The load-bearing connection block is used to install the loading platform. There are two parallel slide rails. The bottom of the loading platform slides with the two slide rails through the load-bearing connection blocks. A rack is arranged on one side of the slide rail and is arranged parallel to the rack. The rack is located between the two slide rails. A driving motor is arranged on the loading platform. The output end of the driving motor meshes with the rack through a transmission gear. A protective cover is provided on one side of the slide rail and the rack; the front side of the loading platform is connected to the driving motor by screws, and the output shaft of the driving motor cooperates with the transmission gear. Through the meshing of the transmission gear and the rack, the transmission gear is driven to move forward and backward on the rack, thereby driving the loading platform to move on the slide rail; Since different models of automobile bottom plates have different numbers of welding points, if the automobile bottom plates are welded while moving on the conveying assembly, in order to ensure sufficient welding time, it is necessary to limit the linear speed of different models of automobile bottom plates on the conveying assembly. Therefore, different models of automobile bottom plates require different transmission forces. The transmission force of the conveying assembly is: F= Among them, F is the transmission force (N), P is the driving motor power (KW), m is the transmission gear module (mm), Z is the number of transmission gear teeth, and v is the transmission gear transmission linear speed (m / s); The grabbing frame is connected to a plurality of vacuum suction cups through a plurality of guide rods, and each vacuum suction cup is respectively connected to a corresponding vacuum generator; The adsorption force can be adjusted by adjusting the operating parameters of the vacuum generator; or the control valve is set on the grab frame, and the control valve is connected to the external vacuum generator through the air pipe, and the adsorption force of the vacuum suction cup can be changed by adjusting the opening of the control valve; When obtaining the deflection of the vacuum suction cup relative to the guide rod, an angle sensor is used. The angle sensor can measure and output the deflection angle of the suction cup relative to the guide rod in real time; or a visual system is used to track the positional relationship between the suction cup and the guide rod, and the deflection angle of the suction cup relative to the guide rod is calculated through image processing technology, and then the adsorption force is configured to follow the change of the deflection angle. According to the needs, the logic of the adsorption force changing with the deflection angle is determined; the output of the angle sensor is received, and the required adsorption force is calculated according to the preset control logic. When the deflection angle exceeds a certain threshold, the adsorption force is increased to maintain stability; Adjust the suction force of the vacuum suction cup, use the vacuum suction cup to form multiple suction point positions, and independently control the suction force of each suction point to better adapt to the change of the yaw angle.

2. The automobile floor panel welding line transfer device according to claim 1, characterized in that: The three-axis motion mechanism comprises a transfer truss and a lifting mechanism, the lifting mechanism is installed on the transfer truss, and the grabbing mechanism is installed at the end of the lifting mechanism.

3. The automobile floor panel welding line transfer device according to claim 1, characterized in that: A material unloading robot is provided at one end of the conveying component away from the transfer component.

4. A method for operating the automobile floor panel welding line transfer device according to any one of claims 1 to 3, characterized in that: include: The three-axis motion mechanism drives the gripping mechanism to move, and the vacuum suction cup of the gripping mechanism can contact and fit the workpiece, and absorb the workpiece for gripping; When loading, the three-axis motion mechanism drives the workpiece grasped by the vacuum suction cup to be transferred from the workpiece placement area to the loading platform of the conveying component; when unloading, the three-axis motion mechanism drives the workpiece grasped by the vacuum suction cup to be transferred from the loading platform of the conveying component to the workpiece placement area; The loading platform moves along the slide rail, driving the workpiece on the loading platform to move for loading or unloading the workpiece.

5. The working method of the automobile floor panel welding line transfer device according to claim 4, characterized in that: The vacuum suction cup can adapt to the surface angle of the workpiece at the contact position, change the angle of the vacuum suction cup relative to the guide rod, so that the vacuum suction cup maintains contact with the workpiece, and adjust the adsorption force of the vacuum suction cup according to the swing angle of the vacuum suction cup relative to the guide rod.

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